Power transmission



R. L. TWEEDALE POWER TRANSMISSION June 25, 194 6. I

Filed Aug. 14, 19:57 6 Sheets-Sheet 1 INVENTOR June 25, 1946. Y R; L. TWEEDALE PQWER TRANSMISSION Filed Aug, 14, 195'! 6 Sheets-Sheet 2 INVENTOR R. L. TWEEDALE POWER TRANSMISSION June 25, 1946-.

Filed Aug. '14; 1937 6 Sheets-Sheet 3 INVENTOR June 25,1946.

R. L. TWEEDALE POWER TRANSMISSION Filed Aug. 14, 1957 6 Sheets-Sheet 4 INVENTOR June 25, 1946. R. TWEEDALE POWER TRANSMISSION Filed Aug. 14, 1957 e Sheets-Sheets INVENTOR Q44 1. TM

b la L June 25, 1946. R. 1.. TWEEDALE POWER TRANSMISSION Filed Aug. 14, 1937 6 Sheets-Sheet 6 INVENTOR Patented June 25, 1946 POWER. TRANSMISSION Ralph L. Tweedale, Waterbury, Conn., aaaignor to The Waterbury Tool Company, Waterbury, Conn., a corporation of Connecticut Application August 14, 1937, Serial No. 159,199

This invention relates to power transmissions and more particularly to those of the type comprising two or more fluid pressure energy translating devices, one of which may function as a pump and the other as a motor. The invention is particularly directed toward the provision of a transmission of this character and to a control system therefor, which is adapted for use in driving a winch for lifting an object, such as a boat or airplane, floating in a seaway, to the deck of a ship or to a stationary platform, such as a pier. The invention is shown and described as adapted for this use although it is understood that the invention can be used for other purposes. 7

Many devices have been proposed for satisfactorily picking a floating object off from the water and many have recognized the necessity of preventing the occurrence of slack in the line by which the object is picked up. If any slack is permitted to develop, the constant up and down motion of the object on the waves will cause a violent Jerk as the slack is taken up and it may be of sufllcient magnitude to rupture the hoisting line or to pull the attaching connections out of the object being lifted. The avoidance of this difficulty has heretofore been taken care of by the provision of control means for causing the winch to exert a predetermined tension on the hoisting cable after it has been attached to the object, this tensioning being maintained for a considerable interval preparatory to picking the object of! the water. It is necessary therefore with the devices of the prior art to perform the lifting operation in three definite stages. During the first stage, the hook is lowered to the object and manually engaged with a ring on the object while the hoisting line is generously slack. During the second stage, the slack is taken up and the cable is maintained at a constant tension suflicient to keep the cable taut while the object rides up and down on the waves. During the third stage, the constant tension control mechanism is disabled and the winch is caused to positively hoist the object off from the water. The transfer from constant tension operation to positive hoisting has heretofore been made manually; in which case it is necessary for the operator to Judge the proper instant at which the change-over should be made.

The present invention aims to'eliminate the period of constant tension operation preliminary to picking the object oi! the water. To accomplish this, a pilot cable is provided which may be reeled out and the end attached to the object to be lifted. The pilot cable is maintained taut 18 Claims. (Cl. 214-95) by a mechanism at the winch and while thus tensioned a special coupling member attached to the hoisting line is lowered to the object, sliding along the pilot cable as a guide. Preferably the pilot cable is so connected to the winch control mechanism that it operates to impress uponthe-control mechanism the up and down movements of the object on the waves and causes the coupling member to be lowered-toward the object at a rate which is independent of the wave motions. The coupling memberis so constructed as to automatically engage with another coupling member carried by the object whenever the two are brought together and a lifting force is exerted on the coupling member attached to the hoisting line. A lifting connection is thus automatically established during an instant just after the object begins to move downwardly relative to the coupling member. This downward motion of the ob- Ject relative to the coupling member occurs during the interval while the object is moving upwardly relative to the boom but is being deceleratedi that is, while the object is approaching the crest of a wave. The nature of the automatic coupling means is such that the lifting connection can be established only under these conditions. This interval is the only one during which it is possible to begin lifting the object from the water without causing a dangerous jerk on the line.. By the provision of an automatic coupling means of this character, the pick-oi! point is thereby automatically established at the proper instant without requiring a period during which the hoisting connections remain established and the plane or the object rides up and down on the waves at a constant light tension on the hoisting line.

Further objects and advantages of the present invention will be apparent from the following description, reference being had to the accompanying drawings wherein a preferred form of the present invention is clearly shown.

In the drawings:

Fig. 1 is a diagrammatic view of the airplane crane incorporating a preferred form of the pres- I ent invention.

Fig. 2 is a cross section on line 22 of F18. 1. Fig. 3 is a cross section on line 3-4 of Fig, 2. Fig. 4 is a cross section on line 4-4 of Fig. 2. Fig. 5 is a cross section on line H of F18. 2. Fig. 6 is a cross section on line t-l of Fig. 2. Fig. 7 is a fragmentary developed view of the follow-up valve shown in Fig. 2.

Fig. 8 is a side view partially in section of a hydraulic transmission incorporated in the winch Fig. 11 is a detailed view of the automatic coupling means forming part of the tion.

Fig. 12 is a cross sectional view of the parts in Fig. 11. showing them in a diiferent position.

Fig. 13 is a detailed view of a limit stop mechanism incorporated in the winch structure.

Fig. 14 is an end view of the winch mechanism.

Fig. 15 is an electrical circuit diagrammatically showing the control circuit for a pilot electric motor.

Fig. 16 is a diagrammatic illustration showing the rudiments of a winch driving and control system incorporating the present invention and showing the parts in the positions occupied when the pilot cable is being lowered to the object.

Fig. 17 is a view corresponding to Fig. 16, showing the parts in the positions occupied while the hoist line is being lowered to the object.

Fig. 18 is a view corresponding to Fig. 16 showing the parts in the positions occupied immediately prior to the establishment of the hoisting connection.

Fig. 19 is a view corresponding to Fig. 16, showing the parts in the positions occupied during hoisting of the object. I

Referring now to Fig. 16 through 19, there is shown diagrammatically a winch driving and control system which will serve'best to illustrate the principles upon which the present invention operates. The mechanism illustrated in Figs. 16 through 19 is intended as schematic only and has been chosen for clarity of illustration rather than.

' shaft I8, which is connected to a differential gear present inventhird member of the differential IS. A heavy spring 64 biases the lever 62 to the position illustrated inv Fig. 16. Connected to the drum III by bevel gearing 68 is a screw shaft 88 carrying a travelling nut 10 which is en eable by a compression spring 12 with a detent 14 which operates on a ratchet wheel 16 connected to the pilot drum 46. A limit switch 18 is placed in the circult of the pilot motor 56 and is operable to ofl" position whenever, the push rod "releases the detent 58.

It will be noted that the shaft 20 of the variable speed transmission 22, 24 is connected to the hoist drum Hi and thus to the object to be lifted and through a differential connection l8 which also connects with the force measuring element comprising the spring 84. The spring 64 is of such strength as to remain contracted while the coupler I4 is not connected to the object and to yield whenever a substantial portion of the weight of the object is carried by the hoisting line l2. The action of the differential I8 and the spring 64 is analogous to that of a torsion dynamometer. The lever 28 which controls the speed and direction of movement of the shaft 20 is under the conjoint control of several other elements of the mechanism illustrated. Thus the position of the lever 28 depends upon the position of the lever 32 which in turn depends upon the difference in relative positions of the shaft 20 and the output shaft at the differential 42. Shaft 40 likewise moves in accordance with the difference in position between the shafts 50 and 44, the former being connected through differential 52 to the pilot motor 58 and the latter being connected to the object through the pilot drum 46 and pilot indicated at l3. One of the two other shaft connections to the differential I8 is the shaft 20, which is connected to the fluid motor 22 operated on fluid supplied by the variable displacement pump 24. The latter is driven by an electric motor prime mover indicated at 28. The displacement of the pump may be controlled by a stroke controlling lever 28 which is connected by a link 33 to a lever 32 connected to one portion of a differential gear 34. A light spring 33 urges lever 32 counterclockwise. A shaft 36 connects through bevel gearing 38 between shaft 20 and one member of the differential 34. The third member of the differential 34 is connected to shaft 40 which is connected to a differential 42. One member of the differential 42 i connected by shaft 44 with a pilot drum 48 having wound thereon a pilot cable 48 the end of which may be attachedto the object to be lifted. The third member of the differential 42 is connected by a shaft 50 to a differential 52 which has one member connected to a lever 51 and another member. connected by a haft 54 to a pilot electric motor 53. A detent 55 retains the lever 51 in the position illustrated cable 48. The lever 5'! which is restrained by the detent 58 is adapted when released to impart a predetermined motion to the shaft 50 in addition to that imparted by the pilot motor 56. The operation of the entire system may best be seen by a consideration of the movements which take place in sequence during a typical plane lifting operation. Starting with conditions as illustrated in Fig. 16 wherein the motor 28 is not energized and with the lever 51 latched by the detent 58 in its right hand position. the pilot drum 43 may .be operated to pay out the pilot cable 48 by energizing the motor 56 which act through the shaft 64, differential 52, shaft 50, differential 42, and shaft 44, rotating in the direction of the arcuate arrows shown in Fig. 16. The straight arrows in all cases indicate the direction of flow of power. In instances where there is no shaft rotation but merely a reaction torque, the direction of this torque is indicated by dotted arrows.

Momentarily at the start of this operation, the travelling nut Ill and sprin I2 hold the detent 14 against the ratchet l6, preventing winding in motion of the drum 46. The spring 12 however permits the drum 46 to turn in a paying out direction, the ratchet "I6 clicking by under the detent 14. After sufficient pilot cable has been paid out for the pilot aboard the plane to fasten the end thereof to the plane allowing sufllcient slack to avoid Jerking, the pilot motor 53 may be the same is taut. As soon as the pilot line 43 becomes taut a torque reaction is produced in the shaft 40 as shown by the dotted arrows. This torque, produced by motor 56 and arising from resistance of'th plane to the upward pull of line 48 is sufficient to overcome spring 33 and to start levers 32 and 28 moving clockwise from the position of Fig. 16. At about this time the motor 23 turn over at a constant speed and to deliver fluid to the 'motor 22 proportionately to the displacement of the lever 24 from neutral position.

This stage of operation is illustrated'in Fig. 1'1. Thetension maintained in the pilot cable 44 is preferably sufficient to support the coupling member I4 against the force of gravity even though the plane to be picked up is not directly under the boom of the crane over which the hoisting lin I: runs. This tension depends on the force exerted by spring 33. I

The continued operation of the pilot motor 54 first causes the levers l2 and 22 to move to the right of neutral position so that the pump 24 is placed on stroke in a lowering direction. The main drum thus pays out the hoisting cable l2. As soon as the fluid motor 22 starts to move, however, the shaft 38 starts to move also, being geared thereto by gearing 38. Thus the lever 32 being differentially connected to shafts 26 and 40 is made dependent on the difference in rotation between the pilot motor 68 and the fluid motor 22 (assuming for the moment that pilot drum 4 remains stationary).

turnsat a speed proportional to the speed of motor 56. There is a further control of the speed of motor 22 which operates concurrently with this control and modifles the action thereof. This additional controlling eflect is introduced by the up and down motion of the plane on the water which is transmitted through pilot cable 48, drum 46, shaft 44 and diflerential 42 to the shaft 40. Thus if the plane moves up on'a wave the shaft 44 turns in the direction of the dotted arrow in Fig. 17. This is in the same direction as the torque applied thereto by spring 22 so that the spring is permitted to'contract, moving levers 32 and 28 counterclockwise and thus reducing the speed at which the main cable is lowered, and even moving so fares to cause the main drum to haul in cable temporarily. Preferably the normal speed of pilot motor 58' is such as to cause the cable to be paid out normally at a much lower speed than the maximum plane velocity on the waves. If the plane moves down on a wave the action is opposite so that the lowering speed of the main cable isincreased. The result is that the coupling member moves downwardly at a varying rate relative to the end of the boom but at a constant rate relative to the plane (the speed of pilot motor 56 being considered constant).

As soon as the coupling member l4 has passed on to the coupling member associated with the plane, automatic engagement of the two coupling members is established as follows. So long as the downward speed of thecoupler l4 relative to the plan is substantially lower than the average speed of the plane up and down on thewaves, it follows that the coupling members will first move into engagement while the plane is in a trough. The coupling members will therefore over-engage as shown-in Fig. 18. Thereafter ,as

soon as the plane begins to be accelerated downwardly as it ascends the next wave crest, the upward speed of the member I4 is decreased through the action of the differential 42. There-is a slight lag however represented by the range of motion Accordingly the strokev of pump 24 is controlled so that the motor 22 so doing the inner mechanism of the coupling member I4 (later to be described) comes into operative engagement with the coupling member on the plane, preventing further separation of the two coupling members. Since the plane is moving upwardly at this instant at something less than the maximum upward velocity induced by the waves, the plane is picked off the water automatically at the ideal time.

As soon as a substantial portion of the weight of theplane is transferred to the hoisting cable I2, a reaction torque appears at lever 62 and the spring 84 allows the push rod 60 to move into the position illustrated in Fig. 19 thus tripping the detent 58 and permitting an additional increment of rotation to be imparted to the shaft in the direction of the arrow illustrated in Fig. 19. This movement occurring at differential 52 is twice as great as the movement taking place at the differential I. so that as the lever 51 moves to the position in Fig. 19 the lever 22 has not only been prevented from responding to the motion of shaft 20 ahead of drum II! (which would cause lever 32 to move clockwise) but also has been moved ahead, counterclockwise into a position where the motor 22 is caused to drive the hoisting drum at a faster speed in'a winding in direction. The movement of the push rod 60 also operates the switch I! to stop the pilot motor 58 so that with the parts thus positioned, the

- drum I0 continues to turn, hoisting the airplane.

Thereafter when it is desired to stop the upward movement, the lever 51 may be operated by hand into the vertical position thus acting through the differentials 52, t2 and 3 to restore the control lever 28 to neutral position. After the crane boom a hoisting cable 84 is run for picking up a sea I4 continues its high velocity upward movement for an instant before its upward velocity is decreased to correspond to that of the plane; but in plane or other floating object 836. One end of the cable 34 carries an automatic coupler 88 while the other end is wound on a hoisting drum 9!. A pilot cable 92 is also threaded along the boom 40' and leads to a pilot drum 84 locatedat one end of variable speed transmission 88.

The latter comprises a pump 88 and a fluid motor I, the former being driven by an electric motor I02. Also driven from the motor I02 by beltdrive I04 is an auxiliary pump I06 for the purpose of supplying fluid under pressure for operating the control mechanism. I

Referring now to Fig. 2, the shaft I04 of the fluid motor Hill has keyed thereon a sprocket I III over which a chain H2 runs to a sprocket associated with the hoisting drum l0. Gearing I I4 is also provided for driving the limit stop mechanism. Coupled to the end of the shaft III! is a sleeve-like member Ii! which is iournalled in a bearing I22 formed on a standard I22. The member H8 is provided with a hollow cylindrical portion I24 which forms one member of a follow-up or differential valve. Within the member H8 there is mounted a plug member I26 having four fluid pasages I28, I80, I22 and I24 formed therein each of these passages communidating with one of four annular grooves I88, I88,

. bearing at the left-hand end of the member II8 I66, and is driven by a. pilot electric motor I68 (Fig. 4) mounted on a bracket I10 formed on the casing I66. The pilot motor I68 is preferably of the typ including an automatic spring loaded brake which is engaged at all times except when the motor is energized. The casing I66 carries a lug I12 adapted to be engaged by a detent I14 pivoted at I16 on the standard I62. Stop pins I18 and I80 limit the angular movement of the casing I66 to a predetermined arc. The detent I14 is normally biased into the position illustrated in Fig. 4 by a spring I82 and is operable by a push rod I84 slidable in bearings I88 on the standard I52. A hand operated detent I88 is also pivoted at I16 and operable by means of a hand lever I90 (Fig. 2) into and out of engagement with the lug I12. The right-hand end of the push rod I84 is arranged to operate an electric switch I92 through a lever I84 whenever the push rod moves to the right from the position illustrated in Fig. 4. A foot pedal I86 is arranged to permit manual return of the switch I82 to the on position after it has been operated to the off position by the push rod I84.

Referring again to, Fig. 2, the pilot drum 84 is journalled at its right-hand end on the sleeve I I66 at bearing I88 while at its left-hand end it is iournalled on the standard I22 at a bearing 8 tudinal slots 2I8, 220, 222 and 224 equally separated around the internal periphery thereof. The inner member I24 is provided with a plurality of elliptical through holes by which communication may be established between the various slots in the outer member and selected ones of the grooves I86-I42 formed on the outer surface of the plug member I28. Thus when the outer member 208 moves to the left in Fig. 7 relative to 200. The right-hand end head of the drum 94 is removably attached thereto by bolts 202 and r carries a beveled gear 204 with which the pinions I68 mesh. Rotatably mounted on the cylindrical .portion I24 01 the sleeve member H8 is a second follow-up valve member 206 which has formed on its right-hand end a beveled gear 208 also meshing with the pinions I58. The valve member 206 is thus differentially connected to the pilot drum 84 and to the worm wheel I62 which is driven by the pilot motor I68. Means are provided for limiting relative motion between the valve members I24 and 206, which, as shown in Fig. 3, comprise a pair of abutment pins 2I0, extending through slots 2 I2 formed in the member 208, and secured to the member I24. The member 206 also carries abutments 2 between which and the abutments 2I0 spring 2I8 are mounted for urging the member I24 counterclockwise in Fig. 3 relative to the member 206. These springs are together of suflicient strength to maintain on the pilot cable 92 a tension which willsupport the coupling member 88 even though the pilot cable 92 be disposed at a considerable angle to the vertical in that portion which extends from the end of the boom to the airplane.

Referring now to Fig. 7, the cylindrical surface of the follow-up valve is there illustrated in a developed view in which -it will be seen that the outer member 208 is provided with four longi- .the member I24, the grooves 2I8 and 222 are connected with annular grooves I86 and I40 permitting fluid to pass from the pipe I44 which is the discharge line from the pump I06 into the pipe 160 which leads to the left-hand end of a control cylinder 226 for regulating the displacement of the pump 88 (see Fig. 8.). Likewise the slots 220 and 224 form connections between the annular grooves I88 and I42 permitting fluid to pass from the pipe I46 to the pipe I48 thus permitting :fiuid to discharge from the right-hand end of the cylinder 228 to the intake of the pump I 06. When the outer member 206 moves in the opposite direction relative to the inner member I 24 the connections between the cylinder 228 and the pump I08 are reversed. It will be seen that this valve structure makes the connections described in accordance with only relative movements between the members I24 and 206 and is independent of any simultaneous movement of these two members. In other words,'both the member I24 and member 206 may be revolving at any speed and the only way in which a change in valve connections can be made is for one member to get ahead of the other.

Slidably mounted in a bore in the standard I22 I is a detent 228 having a beveled nose engageable with ratchet teeth 280 formed in the lefthand end face of the member 208. The detent 228 is urged by a spring 282 to the right in Fig.2 and may be retracted by a lever 284 pivoted at 236 and which is connected to an operating rod 288. The latter is under control of limit stop mechanism illustrated in Fig. 13 and which may be a part of a conventional type of travelling nut limit switch. Thus the shaft 240 may be driven from the gearing H6 and carries a travelling nut 242 which is engageable with adjustably positioned limit switches 244 for'controlling the main motor I02. The rod 288 is slidably. mounted in the frame of the limit switch mechanism and carrles an adjustable lug 246 engageable with the travelling nut 242. A spring 248, .stronger than spring 282, normally urges the rod 288 to the right in Fig. 13. Thus whenever the main hoisting drum is operated to bring the coupling member 88 nearly up to the boom the nut 242 engages the lug 248 pulling lever 288 to the left against the spring 248, permitting the spring 282 to move the, detent 228 into engagement with ratchet teeth 280 and thus preventing further movement of the valve member 208 under the urging of the springs 2I6.

Referring now to Figs. 1, 9 and 10, the drive from the chain II2 to the main drum 80 incorporates a torque measuring differential mechanism which includes a sprocket 260 over which the chain II2 runs. The latter is mounted on a hub 262 keyed to the shaft 264 of the drum 80. Bolts 266 extend through slots 268 in the sprocket 260 and are secured to the hub 262 to limit the angle of relative movement between sprocket 286 and the hub 262. Spring abutments 280 are formed on the interior of a flange 282 integral with'the sprocket 260 while spring abutments 264 are formed on the hub member. 282. Between these abutments are mounted strong compression which cooperates with a female thread member 210 which is slidably keyed to the sprocket 250 at 212. which the end of a push rod 216 is engaged. The latter is connected through a bell crank mechanism 218 (see Fig. 1) with the push rod I64, -illustrated in Fig. 4. i

The construction of the automatic coupling mechanism is illustrated in Figs. 11 and 12 in which it will be seen that a coupling member 280 is attached to the object to be lifted. This member is provided with a cylindrical stem 282 having an integral ball head 284'. .The member is provided with a-central bore 286, the lower portion of which is enlarged as at 286 (Fig. 12). The bore 286 is open on its front side as seen in Fig. 11 by a slot 290 having an enlarged portion 292 at its lower end. 'The end of the pilot cable 92 carries a slug 294 which may be passed through 'the enlarged slot 292 and drawn upwardly to the position illustrated in Fig. 12 whereby the cable 92 becomes attached to the coupling member 280.

The coupling member 88 is formed with an. interior bore 296 having an inwardly tapered portion 298 in which three or more Jaws 300 are adapted to slide. A pressure plate 302 is urged downwardly by springs 304 whereby the jaws 300 are urged inwardly by the cam action of the conical surface 298. The jaws 300 are provided with internal spherical surfaces 306 adapted to fit the head portion 284 of the coupling member 280. A bore 308 is provided whereby the The member 210 carries a socket 214 in pilot cable 92 may be threaded centrally through I the coupling member 68.

The pilot motor I68 is of the reversible type and may be controlled by any suitable circuit such as that illustrated in Fig. 15. The common connection 3I0 for both forward and reverse windings is connected to one side of the line 3I2. The forward winding is connected by conductor 3 with one set of contacts of a switch 3I6 while the reverse winding is connected by conductor 3l8 with the opposite contacts of the switch M6. Both windings are in series with the automatically operated on-off" switch I92 which is operated by the push rod I84 and the foot pedal I96. The switch 3I6 may be operated by a hand lever 322 to energize either the forward winding or the reverse winding or neither, whenever the switch I92 is closed. Auxiliary momentary. contact push buttons 324 and 326 are provided for energizing the forward and reverse windings respectively when the switch I92 is open. The switches for controlling motor I68 may be positioned in a control box 321 conveniently mounted on the standard I62.

In order to permit the use of a smaller hydraulic transmission than could otherwise be used, fluid motor I00 is preferably provided with a displacementvarying mechanism comprising a fluid motor 328 one end of which is connected by a pipe 330 to the main working circuit of the transmission on the side which is under pressure when the crane is loaded. An adjustable. spring 332 counteracts the pressure exerted through the pipe 330 and is so calibrated that while the coupling member 88 is not connected with the plane,

the motor displacement is small resulting in high speed operation of the drum 90. Whenthe weight of the plane comes on the hoisting dable 10 84 the resulting pressure overcomes the force of the spring 32 moving the motor I00 into full displacement thus providing additional torque capacity during hoisting when high speed operation for following the wave movements is unnecessary. In addition, should a higher wave come along immediately after the plane is picked up, and-the water again support the plane and move it upward faster than the normal hoisting speed, the pressure in pipe 330 falls oil? permitting spring '332 to decrease the motor stroke and thus increase the speed of hoisting to maintain the cable 94 taut under these conditions.

The operation of this form of invention is essentially similar to that described in connection with Figs, 16 and 18. instead of controlling the stroke of the pump 98 by a lever connection this factor is under the control of the differentially operating follow-up valve structure within drum 94. This operates through the hydraulic motor 226 to control the pum stroke in accordance with the difference in relative rotation between the motor output shaft I08 and the output of the differential gear within the drum 94. The pilot electric motor 56 drives the worm gear I62 direct instead of through a differential gear as illustrated in Fig. 16, the function of the differential gear 52 being provided by the rotatable mounting of the worm housing I56 as a whole. While a hand lever may, if desired, be placed on the housing I56 for manual rotation thereof when it is desired to stop or lower the plane after it is hoisted, it is preferred to utilize the momentary contact push buttons 324 and 326 for this purpose.

If it is desired to utilize the crane as a temporary mooring device for a plane by maintaining a constant tension on the hoisting cable, the hand operated detent I88 may be engaged with the lug I12. The housing W6 is thus maintained stationary when the push rod I94 trips latch I14 so that the differential valve member 206 is not moved ahead to start hoisting when the weight of the plane comes on the coupling member. Under these conditions the torque measuring device at sprocket 250 permits relative rotation between the shaft I08 and the pilot drum 94 in definite relation to the up and down movements of the fluid motor in a manner to cause the main drum to follow the wave movements.

While the form of embodiment of the invention as herein disclosed, constitutes a preferred form,

it is to be understood that other forms might be adopted, all coming within the scope of the claims which follow.

object, and means associated with one of said i cr'lpling members for automatically causing a 1( i sus ining connection to be established up engagement of one coupling member with the other.

2. In a device for hoisting an object floating in a seaway the combination of a winch, variable speed means for driving the-winch, a hoisting line connected to the winch and carrying a coupling member, a pilot line having a portion paralleling the hoisting line, means for connecting the pilot line to the object, said coupling member being slidable along said pilot line toward the object to be hoisted, a coupling member connected to the object, and means for maintaining on said pilot cable sufiicient tension to maintain coupling members for automatically causing a load sustaining connection to be established upon engagement of one coupling member with the other, and means for controlling the driving means to cause the object to be lifted clear of the water, said last means being responsive to the first drop in the upward speed of the object after said connection is established.

4. In a device for hoisting an object floating in a seawaythe combination of a winch, variable "speed means for driving the winch, a hoisting line connected to the winch and carrying a coupling member, a pilot line having a portion paralleling the hoisting line, means for connecting the pilot line to the object, said first coupling member being slidable along said pilot line toward the-object to be hoisted, a coupling member connected to the object, and means at the winch for maintaining on said pilot cable suificient tension to maintain the pilot line substantially straight when the pilot line is out oi vertical position and must partially support the first coupling member.

5. In a device i'or hoisting an object floating in a seaway the combination of a winch, variable speed means for driving the winch, a hoisting line con nected to the winch and carrying a coupling member, a pilot line having a portion paralleling the hoisting line, means for connecting the pilot line to the object, 'said first coupling member being slidable along said pilot line toward the object to be hoisted, a coupling member connected to the object, and power driven means for maintaining on said pilot cable suflicient tension to maintain the pilot linesubstantially straight when the pilot line is out of vertical position and must partially support the flrst coupling member.

6. In a device for hoisting an object floating in a seaway the combination of awinch, variable speed means for driving the winch, a hoisting line connected to the winch and carrying a coupling member, a pilot line having a portion paralleling the hoisting line, means for connecting the pilot line to the object, said first coupling member being slidable along said pilot line toward the object to be hoisted, a coupling member connected to the object, means for maintaining on said pilot cable suflicient tension to maintain the pilot line substantially straight when the pilot line is out of vertical position and must partially support the first coupling member, and means operated differentially from said pilot line and said hoisting line for controlling the paying out and hauling in 12 of the hoisting line, and manually controlled means for winding in one end 01 the pilot line whereby the hoisting line is paid out proportion-v ally to the winding in of the pilot line.

7. In a device for pulling on a load element subject to varying external forces counteracting the pull the combination of a variable speed motive element, a control element operable to control the speed of the motive means, a force measuring element operable to deflect a predetermined amount when a predetermined pull is exerted on the load element, a manually controllable pilot controlling element, an automatically operable pilot controlling element, and operative connections be tween said six elements; said control element, said force measuring element, and said pilot controlling element, each being connected for differential action with respect to the motion of two 01 the other elements.

8. In a device for pulling on a load element subject to varying external forces counteracting the pull the combination of a variable speed motive element, a control element operable to control the speed of the motive means, a force measuring element operable to deflect a predetermined amount when a predetermined pull is exerted on the load element, a manually controllable pilot controlling element, an automaticay operabe pilot controlling element, and operative connections between said five elements, said control element, said force measuring element, and said pilot controlling element, each being connected for difierential action with respect to the motion of two oi. the other elements, and means responsive to the imposition of 'apredetermined load on the pulling element for operating said automatically operable pilot controlling element.

9. In a device for hoisting an object floating in a seaway the combination of a winch, variable speed means for driving the winch, a hoisting line connected to the winch. and carrying a coupling member, a coupling member connected to the object, means associatedwith one of said coupling members .ior automatically causing a load sustaining connection to be established upon engagement oi one coupling member with the other, and means responsive to the establishment 01 said connection for controlling the driving means to cause the object to be positively hoisted clear 01' the water.

10. In a device for hoisting an object floating in a seaway the combination of a winch, variable speed means for drivingthe winch, a hoisting line connected to the winch and carrying a. coupling member, a coupling member connected to the ob- Ject, means associated with'one 01' said coupling members for automatically causing a load sus- I the coupling members to approach each other and engage during an upward movement of the object on a wave, and responsive to engagement of said coupling members to control the driving means to cause the object to be lifted clear oi the water while on the crest of a wave.

11. The method oi lifting an object floating in a seaway which comprises fastening a pilot line to the object, sliding a hoisting line and coupling member down the pilot line as a guide to the object, and maintaining suflicient tension on the pilot line to guide the coupling member directly to the object when the pilot line is materially out of vertical position.

13 14 12. The method of lifting an object floating in 13. The method of lifting an object floating in a seaway which comprises fastening a pilot line a. Seaway which comprises lowering a hoisting to the object, sliding a hoisting line and coupling line to the object, and connecting the line to the member down the pilot line as a guide to the obobject by the first upward motion of the object on Ject, and utilizing the upward motion 01' the object 5 a. wave after the line has reached the object. on a. wave to make a. connection between the object and the hoisting line. RALPH L. TWEEDALE. 

